Deep Reinforcement Learning Based Self-Configuring Integral Sliding Mode Control Scheme for Robot Manipulators.
Bianca SangiovanniGian Paolo IncremonaAntonella FerraraMarco PiastraPublished in: CDC (2018)
Keyphrases
- robot manipulators
- control scheme
- sliding mode
- reinforcement learning
- closed loop
- control strategy
- sliding mode control
- dynamic model
- control system
- control law
- variable structure
- pid controller
- fuzzy controller
- state space
- optimal control
- neural network
- dynamic programming
- tracking error
- optimization algorithm
- external disturbances